E. Esfahani

Series Passive Nonlinear Compliance for Stable Admittance-Controlled Physical Human-Robot Collaboration in Low-Tolerance Assembly

Low-tolerance assembly tasks in physical human–robot interaction (pHRI) often involve intermittent contact with stiff environments, which can induce instability in admittance-controlled manipulators. Increasing virtual damping improves stability but reduces responsiveness and increases operator effort. This paper intro...